f=argument0;
s=argument1;
r=argument2;
num=argument4;
k1=s/(pi*f);
k2=1/((2*pi*f)*(2*pi*f));
k3=r*s/(2*pi*f);

T=(sqrt(4*k2+k1*k1)-k1)/5;

xx=argument3;
dx=(xx-xxprevious[num])/T;
xxprevious[num]=xx;

yy[num]=yy[num]+T*dy[num];
dy[num]=dy[num]+T*(xx+k3*dx-yy[num]-k1*dy[num])/k2;
return yy[num];
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